Experimental study and rectifying deviation PID algorithm for
self-guided heavy-duty compound robot

YANG Qian-ming, WANG Jun-ji, CUI Ke-ke

                      (College of Mechanical and Electronic Engineering, Shandong University of Science and Technology, Qingdao 266590, China)

Abstract: Aiming at the rectification control of the special compound robot for heavy-duty cotton barrel handling, the structure of the robot body, the composition of the rectification control system, the key electronic detection element of the rectification control and the PID algorithm were expounded.. The electronic rectification principle, the realization method of PLC and the rectification model of the special AGV for cotton barrel handling were studied. The control method of PID algorithm to realize real-time correction of AGV were also discussed. The mathematical model of the AGV based on the motion correction was established and the response law of PID rectification algorithm was also obtained through simulation using the Matlab software. To carry out the field operation and testing of the experimental prototype the principle and method of testing was designed and the deviation data of the actual trajectory and magnetic center line trajectory were obtained. The results indicate that the PID algorithm can be used to correct the trajectory deviation of AGV rapidly and steadily. There is no overshoot and oscillation in the rectification process. The accuracy of rectification is within the range of ±10 mm, which meets the requirements of national standard. The overall operation performance of the compound robot is stable and reliable.
Key words: the compound robot; real-time correction; PID algorithm; the experimental testing